| 80 | } |
| 81 | |
| 82 | void CircleIterator::findSubmapParameters(const Position& center, const double radius, |
| 83 | Index& startIndex, Size& bufferSize) const |
| 84 | { |
| 85 | Position topLeft = center.array() + radius; |
| 86 | Position bottomRight = center.array() - radius; |
| 87 | boundPositionToRange(topLeft, mapLength_, mapPosition_); |
| 88 | boundPositionToRange(bottomRight, mapLength_, mapPosition_); |
| 89 | getIndexFromPosition(startIndex, topLeft, mapLength_, mapPosition_, resolution_, bufferSize_, bufferStartIndex_); |
| 90 | Index endIndex; |
| 91 | getIndexFromPosition(endIndex, bottomRight, mapLength_, mapPosition_, resolution_, bufferSize_, bufferStartIndex_); |
| 92 | bufferSize = getSubmapSizeFromCornerIndeces(startIndex, endIndex, bufferSize_, bufferStartIndex_); |
| 93 | } |
| 94 | |
| 95 | } /* namespace grid_map */ |
| 96 |
nothing calls this directly
no test coverage detected